Robotic manipulator

ABSTRACT

A manipulator includes a mount member, a base member with threaded openings and an aperture, two links, and an output member with threaded openings and an aperture. The manipulator also includes three motors mounted to the mount member and three drive trains connected to the motors, respectively.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a continuation of U.S. application Ser. No.14/882,721 filed Oct. 14, 2015 for “Robotic Manipulator” by Mark E.Rosheim, which in turn claims the benefit of U.S. ProvisionalApplication No. 62/069,032 filed Oct. 27, 2014 for “Robotic Manipulator”by Mark E. Rosheim, U.S. Provisional Application No. 62/069,032 ishereby incorporated by reference herein in its entirety.

BACKGROUND

The present invention relates to controlled motion mechanical membersused as a mechanical manipulator and, more particularly, to a motioncontrollable mechanical manipulator having an output member positionableby incrementally operating plural threaded driving shafts.

There is an increasing need for robotic systems capable of placement in,and accurate member positioning operations in, locations characterizedby small geometric dimensions of surrounding or nearby materialassemblages such as small openings in structures or biological systems.Typically, there is wanted a severing, a removal, or some otherreshaping of something within the opening or of something beyond theopening. Of course, such situations can also arise in larger openingsystems.

Perhaps the most widely used controlled component in robotic systems isa mechanical manipulator, that portion of a robot used to change theposition or orientation of selected objects engaged by that manipulatorsuch as tools to be used in an opening. In many instances, suchmechanical manipulators are desired to have capabilities similar tothose of the human wrist, or shoulder, that is, exhibiting two or moredegrees of freedom of motion.

Although a number of such mechanical manipulators have been developedwhich to a greater or lesser degree achieve some of these desirestherefor, many have been relatively complicated devices requiringcomplicated components and difficult assembly procedures or both. Many,in addition, represent compromises in having relatively limited range,or singularities within the ranges, or other limitations in performance.Thus, there is a strong desire for a mechanical manipulator which can,under control of the user, position objects very accurately anywhereover at least much of a hemispherical surface without any singularitiesin the operation of the device in this range, and which can be made verysmall if so needed and made so inexpensively.

SUMMARY

A manipulator includes a mount member, a base member with threadedopenings, a coupling member, and an output member with threadedopenings. The manipulator also includes three motors mounted to themount member and three drive trains connected to the motors,respectively.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1 through 4 show two perspective views, and elevation and planviews of an embodiment of the present invention.

FIG. 5 shows a cross section view of the embodiment shown in FIG. 3.

FIG. 6 shows a cross section view of the embodiment shown in FIG. 4.

FIG. 7 shows an elevation view of a portion of the embodiment shown inFIG. 6.

FIG. 8 shows an exploded view of the embodiment portion shown in FIG. 7.

FIGS. 9 and 10 show alternative positions for a portion of theembodiment shown in FIG. 3 as modified to further expose innerstructure.

FIG. 11 shows an alternative position for a portion of the embodimentshown in FIG. 1 as modified to further expose inner structure.

FIG. 12 shows a protectively shielded example of the embodimentsotherwise shown in FIGS. 1 through 6 and 9 through 11.

FIGS. 13 and 14 show elevation and plan views of another embodiment ofthe present invention.

FIG. 15 shows a cross section view of the embodiment shown in FIG. 14.

FIG. 16 shows a perspective view of another embodiment of the presentinvention.

FIGS. 17 and 18 show an exploded view of a portion of the embodimentportion shown in FIG. 16 and a perspective view of a part shown in FIGS.16 and 17.

FIG. 19 shows a perspective view of another embodiment of the presentinvention.

FIG. 20 shows a perspective view of another embodiment of the presentinvention.

FIG. 21 shows a perspective view of another embodiment of the presentinvention.

FIG. 22 shows a cross section view of the embodiment shown in FIG. 21.

FIG. 23 shows an elevation view of a portion of the embodiment shown inFIG. 21.

FIG. 24 shows an exploded view of the embodiment portion shown in FIG.23.

FIG. 25 shows an elevation view of another embodiment of the presentinvention.

FIG. 26 shows a mixed elevation and cross section view of anotherembodiment of the present invention.

FIGS. 27 and 28 show perspective views of a further embodiment of thepresent invention.

FIG. 29 shows a cross section view of the embodiment shown in FIG. 27.

FIG. 30 shows a cross section view of the embodiment shown in FIG. 28.

FIGS. 31 through 33 show perspective, elevation and plan views of anextended embodiment of the present invention initially shown in FIGS. 1through 12.

FIG. 34 shows a perspective view of another embodiment of the presentinvention.

FIG. 35 shows a pictorial view of use of the embodiment of the presentinvention shown in FIG. 34.

DETAILED DESCRIPTION

FIGS. 1 through 8 show a first embodiment of a mechanical manipulator,or controlled member motion system, 10, which can have a very largeoutput operating range in various configurations over which it is freeof singularities, and over which it can be operated by various forceimparting devices directly or through various drive trains. FIGS. 1 and2 show perspective views of manipulator 10 with an output positionableportion thereof shown in two alternative positions out of many positionpossibilities. FIG. 3 showing an elevation view with that output portionin a further positon, and FIG. 4 shows a plan view of that manipulator.

FIG. 1 shows manipulator 10 having a support and mounting structure, 11,including a motor mounting plate, 11′, supported on three posts, 11″,with the remainder of robotic manipulator 10 in part surrounded by aprotective cylindrical shell sleeve, 11′″, positioned intermediately inthe manipulator structure. Manipulator 10 further has, in the interioropening of that sleeve, a base plate, 12, affixed in that opening at oneend of the sleeve so as to substantially cover the opening. Base plate12 has three threaded openings through the thickness thereof each at acorner of a centered equilateral triangular pattern formed by theseopenings on the plate. These threaded openings are spaced apart from aninterior opening, 13, also through the thickness of plate 12 that isshown with an exemplary smooth bore. Opening 13 is positioned betweenthe threaded openings and can serve as a conduit for means, such aswires, to together operate a selected output tool as will besubsequently indicated herein.

The three threaded openings in base plate 12 each have a correspondingone of three threaded input shafts, 14, 15 and 16, extendingtherethrough with each threadedly engaged therewith in either aright-handed or a left-handed threading arrangement. Each of threadedinput shafts 14, 15 and 16 extends through base plate 12 to a couplingarrangement in a coupling plate, 17. Each input shaft in thisarrangement is connected in a corresponding one of three coupleduniversal joint pair assemblies, 18, 19 and 20, with each such assemblypositioned in and at the coupling plate. Input shaft 14 is connected incoupled universal joint pair assembly 18, input shaft 15 is connected incoupled universal joint pair assembly 19, and input shaft 16 isconnected in coupled universal joint pair assembly 20.

The coupling arrangement in coupling plate 17 further extends to anoutput plate, 21, through having coupled universal joint pair assemblies18, 19 and 20 in the arrangement each having connected therein acorresponding one of three threaded output shafts, 22, 23 and 24, andwith each of these shaft being threadedly engaged with, and extendinginto or through, a corresponding one of three threaded openingsextending through the thickness of this output plate. Again, thesethreaded openings are spaced apart from an interior opening, 25, throughoutput plate 21 positioned between them that can serve as a conduit formeans, such as wires, to together operate a selected output tool as willbe subsequently indicated herein, and each threaded opening is at thecorner of an equilateral triangle pattern formed by them in this outputplate.

Output shaft 22 is connected in coupled universal joint pair assembly 18and is threadedly engaged in output plate 21 in the opposite threadingarrangement to that of the threading arrangement of input shaft 14 inbase plate 12. Output shaft 23 is connected in coupled universal jointpair assembly 19 and is threadedly engaged in output plate 21 in theopposite threading arrangement to that of the threading arrangement ofinput shaft 15 in base plate 12. Output shaft 24 is connected in coupleduniversal joint pair assembly 20 and is threadedly engaged in outputplate 21 in the opposite threading arrangement to that of the threadingarrangement of input shaft 16 in base plate 12.

A cross section view of coupling plate 17 parallel to the lateral extentthereof is shown in FIG. 5 as is indicated in the elevation view of FIG.3. Further, a cross section view of coupling plate 17 parallel to thethickness thereof is shown in FIG. 6 as is indicated in the top view ofFIG. 4. As can be seen in FIGS. 5 and 6, coupling plate 17 has a curvedends oblong slot, 17′, extending through the thickness thereof andthrough which slot a threaded coupling shaft, 18′, extends. Shaft 18′ isconnected on one end thereof to an input universal joint, 18″, on thebase plate 12 side of plate 17, and connected on the other end thereofto an output universal joint, 18′″, on the output plate 21 side of plate17.

Similarly, coupling plate 17 has a curved ends oblong slot, 17″,extending through the thickness thereof and through which slot athreaded coupling shaft, 19′, extends to connect on one end thereof toan input universal joint, 19″, on the base plate 12 side of plate 17,and to connect on the other end thereof to an output universal joint,19′″, on the output plate 21 side of plate 17. Again, coupling plate 17has a curved ends oblong slot, 17′″, extending through the thicknessthereof and through which slot a threaded coupling shaft, 20′, extendsto connect on one end thereof to an input universal joint, 20″, on thebase plate 12 side of plate 17, and to connect on the other end thereofto an output universal joint, 20′″, on the output plate 21 side of plate17.

In addition, slots 17′, 17″ and 17′″ are spaced apart from an interioropening, 17 ^(iv), that extends through the thickness of coupling plate17 and is positioned between these slots. Interior opening 17 ^(iv) canserve, along with openings 13 and 25, as a conduit for means, such aswires, to together operate a selected output tool as will besubsequently indicated herein. The centers of slots 17′, 17″ and 17′″are each at the corner of an equilateral triangle pattern formed by themin this coupling plate so as to substantially be across from acorresponding one of the threaded openings in base plate 12 and alsoacross from a corresponding one of the threaded openings in output plate21 if the thickness dimensions of each of these plates are parallel asshown in the elevation view of FIG. 3 where these plates are shownpositioned to have the lateral extents of the surfaces thereof parallelto one another.

Coupled universal joint pair assemblies 18, 19 and 20 are all similarlyconfigured, and the corresponding input and output universal joints ineach are also similarly configured. Coupled universal joint pairassembly 18 is shown as an example of these commonly configuredassemblies in the cross section view of FIG. 6, and FIG. 7 shows, as anexample of these commonly configured universal joints in theseassemblies, output universal joint 18′″. Output universal joint 18′″ hasoutput threaded shaft 22 affixed in the shell wall of a hollow jointball, 18 ^(iv), formed as a pierced spherical shell, with this ballpositioned in the cup-like opening of a stemmed joint cup, 18 ^(v),having a pierced cup sidewall. This cup is formed of a larger diametercylindrical shell with the cup-like opening for receiving joint ball 18^(iv), this cup being located at one end of a double cylindrical shellstructure. At the opposite end of this double cylindrical shellstructure as part of this cup is a coaxially located stem cylindricalshell of a smaller diameter which is interiorly threaded, there being acollar about this stem cylindrical shell near where this smallerdiameter cylindrical shell is joined to the larger cup cylindrical shellin the double cylindrical shell structure.

In more detail, with the aid of FIG. 8 showing an exploded view ofoutput universal joint 18′″ that is shown assembled in FIG. 7, the shellwall of joint ball 18 ^(iv) is first pierced by an opening thereinallowing for the fastening of output shaft 22 therein along a sphericalradius, although the shaft could instead be directly attached to thewall without a wall opening being present. This ball shell wall isfurther pierced by two circular openings, 18 ^(vi), opposite one anotheralong a first spherical diameter perpendicular to the shaft 22 radius.Finally, this shell wall is again pierced by two further slottedopenings, 18 ^(vii), opposite one another with each slot beginning wherethey are each initially closest to shaft 22 along a second sphericaldiameter there perpendicular to both the radius corresponding to theshaft and the first diameter. These last openings, however, extend inthe shell wall from their initial positions into oblong slotted openingsin the wall approaching one another at locations relatively far fromshaft 22. Their initial positions where these slotted openings begin arealong sides of the shell wall across the ball equator (taken withrespect to shaft 22) from the shell wall side to which shaft 22 isfastened. In addition, if joint ball 18 ^(iv) is positioned in thecup-like opening of stemmed joint cup 18 v so that the shaft 22 axis isparallel to the common axis of the cup and stem cylindrical shells,these initial slot opening positions on the second diameter of theslotted openings in the ball shell wall, are each across from one of thetwo opposite sidewall circular openings, 18 ^(viii), in the sidewall ofthe cup just inside the cup rim.

A threaded interior cylindrical shell shaft, 18 ^(ix), is rotatablyfitted into the ball shell wall circular openings 18 ^(vi). Cylindricalshell shaft 18 ^(ix) has a threaded opening along its axis of symmetryat one end thereof, and further has two circular openings opposite oneanother along a diameter thereof in the middle of this shaft between itsends into which a solid cylindrical shaft, 18 ^(x), is fitted that alsoextends through shell wall slotted openings 18 ^(vii) and through cupsidewall circular openings 18 ^(viii). A set screw, 18 ^(xi), isthreadedly engaged with the interior threads of cylindrical shell shaft18 ^(ix) through the end of that shaft and tightened against solidcylindrical shaft 18 ^(x). In this arrangement, output shaft 22 can berotated to a limited extent about the axis of symmetry of cylindricalshell shaft 18 ^(ix) in either direction while the shell wall of jointball 18 ^(iv) correspondingly rotates past solid cylindrical shaft 18^(x) near to the ends thereof that extend through slotted openings 18^(vii) therein into sidewall circular openings 18 ^(viii) in thesidewall of stemmed joint cup 18 ^(v). Output shaft 22 and shell wall ofjoint ball 18 ^(iv) can also be rotated in either direction about theaxis of symmetry of solid cylindrical shaft 18 ^(x) that isperpendicular to the axis of symmetry of cylindrical shell shaft 18^(ix).

Thus, any point along output shaft 22 connected to joint ball 18 ^(iv)in output universal joint 18′″ can be positioned in any locations in alimited corresponding spherical surface portion through selectedrotations thereof about one or both of these two axes of symmetryestablished in that joint. Similarly, any points along output shafts 23and 24 that are similarly connected in similar output universal joints19′″ and 20′″, respectively, can be positioned in any respectivelocations in limited corresponding spherical surface portions.

The stem cylindrical shell of stemmed joint cup 18 ^(v) is slidablypositioned in slot 17′ of coupling plate 17 as far as the collarthereabout permits. There, threaded coupling shaft 18′, which isthreadedly engaged in this stem cylindrical shell, joins it to the stemcylindrical shell of the stemmed joint cup of input universal joint 18″by being threadably engaged in this second stem cylindrical shell. Inputuniversal joint 18″ is also slidably positioned in slot 17′ of couplingplate 17 from the other side of this plate to the extent allowed by itscollar as seen in FIG. 6. Threaded coupling shaft 18′ fixedly joinsthese two stem cylindrical shells so that any rotation of the stemmedjoint cup of input universal joint 18″ along its common axis results insimilarly rotating both that shaft along its axis of symmetry andstemmed joint cup 18 ^(v) of output universal joint 18′″ in slot 17′ ofcoupling plate 17 along its common axis. Thus, coupled universal jointpair assembly 18 can be rotated as a unit in slot 17′ along the axis ofsymmetry of threaded coupling shaft 18′ and, similarly, coupleduniversal joint pair assemblies 19 and 20 can be rotated as units inslot 17″ and 17′″, respectively.

Any rotations of the output shafts about the axes of symmetry in theoutput universal joints in which they are connected cause correspondingmotions of output plate 21 in which these shafts are threadedly engagedto result in changes in the plate orientation. Such output platereorientations are accomplished by selectively changing the lengths ofthese output shafts between coupling plate 17 and plate 21 through suchrotating of those shafts since this latter plate in this manner hasdegrees of freedom in its motion in robotic manipulator 10 with respectto plate 17 (and so also with respect to base plate 12 as will bedescribed below). Input shafts 14, 15 and 16, similarly connected insimilar input universal joints 18″, 19″ and 20″, respectively, will, ifrotated about the corresponding axes of symmetry therein, cause suchrotations of the output shafts in output universal joints 18′″, 19′″ and20′″ but will result in changing the lengths of these input shaftsbetween coupling plate 17 and base plate 12 to thereby reorient thiscoupling plate.

More particularly, plate 12, typically being a fixed position referencefor any manipulations in robotic manipulator 10, leads to any rotationsof input shafts 14, 15 and 16 threadedly engaged therein causingcorresponding changing of the lengths of these input shafts between itand coupling plate 17 and further leads to the joint cups in thecorresponding input universal joints rotating about the correspondingone of the joint balls connected to those shafts. The changing lengthsof the input shafts between plates 12 and 17 causes correspondingreorientations of plate 17 with respect to fixed plate 12. The rotatingof the corresponding joint balls connected to those shafts in the inputuniversal joints rotates the corresponding rotatably connected jointcups that are slidably positioned across and partially in the slots ofcoupling plate 17, forcing the corresponding joint cups in the in theoutput universal joints in the coupled universal joint pair assemblies18, 19 and 20, also slidably positioned across and partially in theslots of coupling plate 17, to together rotate as then also do the jointballs rotatably connected thereto in those output universal joints.

Output plate 21, threadedly engaged with output shafts 22, 23 and 24that are connected the joint balls in the output universal joints in theuniversal joint pair assemblies 18, 19 and 20, must also changeorientations with corresponding changes in orientation of plate 17 asthe lengths of these output shafts between plates 71 and 21 change withthe resulting rotations of the output shafts. Slots 17′, 17″ and 17′″ incoupling plate 17 allow radial sliding movements therein of thecorresponding one of coupled universal joint pair assemblies 18, 19 and20 having portions thereof extending therethrough so that theseassemblies can make any slight radial position changes needed thereof ascoupling plate 17 rotates to follow the corresponding ones of the endsof the input and output shafts during reorientations of coupling plate17 and output plate 21.

These positioning capabilities of output shafts 22, 23 and 24, inconjunction with the positioning of coupling plate 17 by selectedrotations of input shafts 14, 15 and 16, provide the capability for anoperator of robotic manipulator 10 to control the angular position ofoutput plate 21 through selected rotation operations on these inputshafts along the shaft axes. Such rotation operations first force theball joint end of the input shaft being so rotated to selectively beeither further away from, or closer to, base plate 12, i.e. increasingor decreasing the length of that shaft between coupling plate 17 andbase plate 12. These changes occur through the shaft being selectivelyrotated, including its threads, in one direction, to be further throughbase plate 12 to have its end further from that plate, i.e. to be“screwed” further through that plate. Alternatively, that shaft, bybeing withdrawn through a shaft rotation in the opposite direction willhave that end rendered to extend less far through that plate. If, forexample, a right-handed thread arrangement is chosen for the inputshafts as engaged in base plate 12, a clockwise rotation of an inputshaft at the side of base plate 12 farthest from coupling plate 17 willresult in that input shaft extending further through plate 12. Thisextension thereby forces the portion of coupling plate 17 where thatinput shaft is connected in a coupled universal joint pair assembly tobecome farther away from the part of base plate 12 adjacent that inputshaft. Such an additional extension of an input shaft through base plate12 from the length of its extension shown in FIG. 3 can be seen forinput shaft 14 in FIGS. 1, 2 and 6.

Furthermore, these clockwise rotations of input shafts also forces thecorresponding one of coupled universal joint pair assemblies 18, 19 and20 to rotate within its slot in coupling plate 17. Thus, for input shaft14, coupled universal joint pair assembly 18 must rotate with in slot17′ as input shaft 14 rotates. Input shaft 14 rotates the joint ball ofinput universal joint 18″ to in turn rotate the joint cup positionedabout this ball in this universal joint in slot 17′, and so also rotateattached threaded coupling shaft 18′ in this slot. The rotation ofthreaded coupling shaft 18′ in turn rotates joint cup 18 ^(v) of outputuniversal joint 18′″ in this slot, which causes joint ball 18 ^(iv)therein to rotate in this universal joint. Rotating joint ball 18 ^(iv)results in the rotation of the corresponding output shaft connected tojoint ball 18 ^(iv) in output universal joint 18′″, output shaft 22.

If, however, input shaft 14 is in a right-handed thread arrangement inbase plate 12, output shaft 22 must be in the opposite threadarrangement in output plate 21. If otherwise output shaft 22 was in aright-handed thread arrangement in output plate 21, the clockwiserotation would extend this output shaft further through output plate 21thus drawing the portion adjacent output shaft 22 closer to couplingplate 17, and thereby canceling some of the rotation effect on couplingplate 17 obtained by adding to the length of input shaft 14 betweencoupling plate 17 and base plate 12. A left-handed thread arrangementbetween output shaft 22 and output plate 21 will, for a clockwiserotation thereof resulting from a clockwise rotation of input shaft 14,withdraw some of the extension of output shaft 22 that had been beyondoutput plate 21 to thereby increase the length of output 22 betweenoutput plate 21 and coupling plate 17. This will add to the rotation ofoutput plate 21 with respect to coupling plate 17 from that provided bythe rotation of plate 17, and thus further increase the rotation ofoutput plate 21 with respect to base plate 12. Rotation of input shafts15 and 16 along the axes of symmetry thereof, and so of coupleduniversal joint pair assemblies 19 and 20 and output shafts 23 and 24correspondingly connected thereto, will, for the same threadingarrangements for input shafts 15 and 16 used with input shaft 14, willsimilarly cause similar reorientations of plates 17 and 21. The angleachieved between output plate 21 and coupling plate 17 matches the angleobtained between coupling plate 17 and base plate 12.

Selected rotations of input shafts 14, 15 and 16 in various combinationsthereof can thus result in selected reorientation alternatives of plates17 and 21 over a large range of spatial orientations, and so provideselected radial position alternatives for these plates. As examples,FIGS. 9 and 10 show the embodiment of robotic manipulator 10 shown inFIG. 3 with coupling plate 17 and output plate 21 in the sameorientations with respect to base plate 12 in all three figures, butwith cylindrical shell sleeve 11′″ omitted in FIGS. 9 and 10. However,the radial extent of output plate 21 away from base plate 12 differs inthese figures despite the same orientations thus demonstrating thatrotation of the output shafts of motors 30, 31 and 32 can be chosen tocontrol to a degree such radial extent. Again, in FIG. 11, theembodiment of robotic manipulator 10 is shown with coupling plate 17 andoutput plate 21 in the same orientations with respect to base plate 12as shown in FIG. 1, but with cylindrical shell sleeve 11′″ omitted inFIG. 11. A different extent of output plate 21 along the angulardirection chosen for that output plate with respect to base plate 12 isshown is FIG. 11 from that shown in FIG. 1 which differences areselectable through selecting corresponding rotations for motors 30, 31and 32.

The selected rotations of manipulator input shafts 14, 15 and 16 areprovided by corresponding selected rotation operations of each of a setof three motors, 30, 31 and 32, typically electric motors, provided at acontrol location behind base plate 12 with respect to coupling plate 17provided on the other side of plate 12. These motors are each connectedthrough a corresponding drive train to a corresponding one of theseinput shafts as shown in FIGS. 1, 2, 3 and 6. Thus, motor 30 is mountedin motor mounting plate 11′ and coupled to input shaft 14, motor 31 ismounted in motor mounting plate 11′ and coupled to input shaft 15, andmotor 32 is mounted in motor mounting plate 11′ and coupled to inputshaft 16. Protective cylindrical shell sleeve 11′″ of FIGS. 1, 2, 3 and6 can be extended in length downward in the drawings to also provide aprotective shield about these motors and drive trains as seen in FIG.12, and the sleeve bottom end can then be joined to a manipulatormounting plate across the bottoms of the motors, typically providedparallel to base plate 12 (not shown), or to some other mountingarrangement.

Thus, the output shaft of each of the motors at the beginning of acorresponding drive train is fastened in a drive train beam coupler(although other kinds couplers could be used) using one of a pair of setscrews, 33, and connected by that coupler to the drive train first cupand shaft driver which is rotatably coupled next to the drive trainsecond cup and shaft driver that is connected in turn to a manipulatorinput shaft extending thereto from base plate 12. As seen in FIGS. 1, 2,3 and 6, the output shaft of motor 30 is positioned within a beamcoupler, 34, extending into it from one split ring end thereof and heldthere by one set screw in a pair 33 thereof that joins the threadedopenings across the ring split from one another. The output shaft ofmotor 31 is positioned within a beam coupler, 35, extending into it fromone split ring end thereof and held there by one set screw in a pair 33thereof that joins the threaded openings across the ring split from oneanother. The output shaft of motor 32 is positioned within a beamcoupler, 36, extending into its central opening from one split ring endthereof, and held there by one set screw in a pair 33 thereof that joinsthe threaded openings provided across the ring split ends from oneanother.

Beam couplers are used to allow for assembly misalignments between themotor output shafts and the subsequent drive train components. They areformed as a cylindrical shell with split rings at each end all about acentral opening, and are made from a single piece of material toeliminate backlash from torque transmissions. They have two spiral cutstherein extending from the shell outside surface to the surfacesurrounding the central opening with the cuts being positioned on eitherside of the halfway point in the cylinder length, and they allow lateralbending to accommodate misalignment and while being yet able to transmittorque.

The split ring at the opposite end of each beam coupler has the shaft ofthe corresponding drive train first cup and shaft driver extendingtherethrough into the coupler central opening opposite the correspondingmotor shaft, and held there by the remaining one of the correspondingpair of set screws 33. Each first cup and shaft driver has a two partshaft coaxially formed with a cup at one end thereof, the cup havinginterior splines parallel to the common axis. The shaft of the first cupand shaft driver has a smaller diameter first part that is positioned inthe central opening of the coupler and that joins on the common axis tothe end of the shaft second part, having a larger diameter and that ispositioned in a corresponding one of three bushings, 37, (which couldinstead be bearings), this joining of shaft parts being through a collarof a slightly larger diameter about the second part and that ispositioned where the shaft parts are joined. This shaft second part isin turn joined at its opposite end to the outside of the closed end ofthe cup again on the common axis, the outside diameter of the cup beinggreater than the diameters of the shaft second part and its collar.

As seen in FIG. 3, and in part in FIGS. 1, 2 and 6, beam coupler 34 hasthe smaller shaft diameter portion of a first cup and shaft driver, 38,extending into its central opening through the remaining split endthereof and held there by the remaining set screw in the correspondingpair 33 thereof that joins the threaded openings provided across thering split ends from one another. Beam coupler 35 has the smaller shaftdiameter portion of a first cup and shaft driver, 39, extending into itscentral opening through the remaining split end thereof and held thereby the remaining set screw in the corresponding pair 33 thereof thatjoins the threaded openings provided across the ring split ends from oneanother. Beam coupler 36 has the smaller shaft diameter portion of afirst cup and shaft driver, 40, extending into its central openingthrough the remaining split end thereof and held there by the remainingset screw in the corresponding pair 33 thereof that joins the threadedopenings provided across the ring split ends from one another.

Bushings 37 are each positioned in a corresponding opening in a bushingplate, 41, such that the cup of each of first cup and shaft drivers 38,39 and 40 each have a portion of its bottom positioned against itscorresponding bushing 37. Bushings 37 in plate 41 are spaced apart froman interior opening, 41′, through output plate 41 positioned betweenthem that can serve as a conduit for means, such as wires, to togetheroperate a selected output tool as will be subsequently indicated herein,and each bushing is at the corner of an equilateral triangle patternformed by them in this bushing plate.

The splined interior of each of the cups of first cup and shaft drivers38, 39 and 40 has the splined shaft of the corresponding drive trainsecond cup and shaft driver engaged therein. Each second cup and shaftdriver has the other end of the splined shaft part thereof coaxiallyjoined with the closed end of a cup of a larger outside surfacediameter, this cup having interior threading therein. Each of these cupsof the second cup and shaft drivers have a corresponding one ofmanipulator shafts 14, 15 and 16 threadedly engaged therein.

As seen in FIG. 6, first cup and shaft driver 38 has the splined shaftof a second cup and shaft driver, 42, engaged in the interior splines ofits cup, and this second cup and shaft driver 42 further has threadedinput shaft 14 engaged with the threads inside its cup. Not seen in FIG.6 (or in the other figures) is first cup and shaft driver 39 and acorresponding second cup and shaft driver, 43, because of being blockedin that view by first cup and shaft driver 40 and a corresponding secondcup and shaft driver, 44. Nevertheless, first cup and shaft driver 39has the splined shaft of second cup and shaft driver 43 engaged in theinterior splines of its cup, and this second cup and shaft driver 43further has threaded input shaft 15 engaged with the threads inside itscup. First cup and shaft driver 40 has the splined shaft of second cupand shaft driver 44 engaged in the interior splines of its cup, and thissecond cup and shaft driver 44 further has threaded input shaft 16engaged with the threads inside its cup. Each of manipulator inputshafts 14, 15 and 16 has a corresponding one of three nuts, 45,threadedly engaged with it that is tightened the cup of thecorresponding one of the second cup and shaft drivers in which it isthreadedly engaged to hold that input shaft in a fixed position in thatcup. Thus, rotation of the output shafts of any motors 30, 31 or 32 willcause, through the corresponding drive train, a corresponding rotationof the corresponding one manipulator input shafts 14, 15 and 16.

The components of robotic manipulator 10 can be formed of steel orstainless steel for general uses, although bushing material willtypically be of a softer metal such as bronze. Specialized uses mayrequire special materials. As an example, use of robotic manipulator 10in a high magnetic field environment, permeable material isunsatisfactory. Instead, in such a situation, the components could bemade of Macor, a machineable glass-ceramic material, or of zirconia,i.e. zirconium dioxide.

Alternative variations of robotic manipulator 10 shown in FIGS. 1through 12 can provide additional capabilities or more economicalimplementation, or both, at least in some circumstances. Thus, couplingplate 17 of robotic manipulator 10 is shown replaced by a perforatedcoupling ring, 17 a, with three rectangular openings, 17 a′, 17 a″ and17 a′″, and three cylindrical shell and block T-bar holders, 18 a′, 18a″ and 18 a′″ in a further robotic manipulator, 10′ as shown in theelevation view in FIG. 13, the plan view of FIG. 14, and the crosssection view in FIG. 15. Parts in robotic manipulator 10′ similar tothose in robotic manipulator 10 have the same designators in each oftheir respective drawings. A portion of robotic manipulator 10′ is shownin selected alternative orientations in these two figures, and themotors and drive trains for this manipulator, identical or similar tothose for robotic manipulator 10, have been omitted in them.

Perforated coupling ring 17 a has rectangular openings 17 a′, 17 a″ and17 a′″ equally angularly spaced about the ring sidewall, and whichextend through that sidewall so as to each be equally spaced from thesidewall ends. Each of coupled universal joint pair assemblies 18, 19and 20 has a corresponding one of the three cylindrical shell andrectangular block T-bar holders 18 a′, 19 a′ and 20 a′ added theretowith the cylindrical shell portion of each holder surrounding a centralpart of the corresponding assembly. The rectangular block portion ofeach such T-bar holder has an end thereof joined to the cylindricalshell portion of the holder and the other end thereof extending in, andsometimes selectively through, a corresponding one of rectangularopenings 17 a′, 17 a″ and 17 a′″.

Thus, assembly 18 has the cylindrical shell portion of T-bar holder 18a′ positioned about shaft 18′ and the stems of the stemmed joint cups ininput universal joint 18″ and in output universal joint 18′″, butbetween the collars of these cups, and has the rectangular portionthereof, fastened to that cylindrical shell portion, extending throughopening 17 a′. Assembly 19 has the cylindrical shell portion of T-barholder 19 a′ positioned about shaft 19′ and the stems of the stemmedjoint cups in input universal joint 19″ and in output universal joint19′″, again between the collars of these cups, and has the rectangularportion thereof, fastened to that cylindrical shell portion, extendingthrough opening 17 a″. Finally, assembly 20 has the cylindrical shellportion of T-bar holder 20 a′ positioned about shaft 20′ and the stemsof the stemmed joint cups in input universal joint 20″ and in outputuniversal joint 20′″, once again between the collars of these cups, andhas the rectangular portion thereof, fastened to that cylindrical shellportion, extending through opening 17 a′″.

Rotation of input shafts 14, 15 and 16 along the axes of symmetrythereof, and so of coupled universal joint pair assemblies 18, 19 and 20and output shafts 22, 23 and 24 correspondingly connected thereto, will,for the same threading arrangements for input shafts 14, 15 and 16 usedpreviously in manipulator 10, will similarly cause similarreorientations of plates 17 and 21. That is, selected rotations of inputshafts 14, 15 and 16 in various combinations thereof can again result inselected reorientation alternatives of plates 17 and 21 over a largerange of spatial orientations to thus provide selected radial positionalternatives for these plates. Rectangular openings 17 a′, 17 a″ and 17a′″ in coupling ring 17 a allow lateral sliding movements therein of therectangular block portion of the corresponding one of T-bar holders 18a′, 19 a′ and 20 a′ each supporting corresponding one of coupleduniversal joint pair assemblies 18, 19 and 20 so that these assembliescan make any slight radial position changes needed therefor as couplingring 17 a rotates to follow the corresponding ones of the ends of theinput and output shafts during reorientations of coupling plate 17 andoutput plate 21.

The group of input universal joints 18″, 19″ and 20″ in roboticmanipulators 10 and 10′ could alternatively be replaced by a group ofthree two axes gimbals as could the group of output universal joints18′″, 19′″ and 20′″. Rather than showing such substitutions, a furtherrobotic manipulator, 10″, shown in the perspective view of FIG. 16, hasa composite extension plate, 50, provided beyond output plate 21 withrespect to base plate 12 supporting a yoke arrangement, 51. Extensionplate 50 has therein a group of three gimbals, 52, 53 and 54, such thatplate 50 is threadedly engaged through those gimbals by, and sosupported by, output shafts 22, 23 and 24 extending from plate 21.Extension plate 50, so arranged, provides an outer output operatingsurface that can reach a greater angular range with respect to baseplate 12 than can the outer surface of output plate 21. Parts in roboticmanipulator 10″ similar to those in robotic manipulator 10 have the samedesignators in each of their respective drawings. Differing portions ofrobotic manipulator 10″ are shown in these two figures, and the motorsand drive trains for this manipulator, identical or similar to those forrobotic manipulator 10, have been omitted in them.

FIG. 17 shows an exploded view of extension plate 50, yoke 51 andgimbals 52, 53 and 54 positioned above output plate 21 which is shown inturn above output shafts 22, 23 and 24. Gimbals 52, 53 and 54 each havetwo substantially semicircular outer edge portions across from oneanother which edge portions are separated from one another by two flatouter edge portions between the ends thereof that are also across fromone another. These gimbals are positioned in capture slots in extensionplate 50, with the flat outer edge portions of each gimbal beingcaptured in a pair of corresponding capture channels in which the gimbalcan slide. Each capture channel in a pair is across from the other inextending along the opposite sides of a corresponding capture slot.

Gimbals 52, 53 and 54 are shaped commonly and so gimbal 52, as anexample of each, will be described in connection with the perspectiveview thereof shown in FIG. 18. These gimbals each have an outer ringcylindrical shell containing the above indicated substantiallysemicircular and flat outer edge portions designated 52′ in the exampleof FIG. 18. These gimbals also have a concentric circular inner ringcylindrical shell, designated 52″ in the example of FIG. 18, interior toouter ring 52′ with a threaded interior shell surface for engaging theoutput shafts. These inner and outer cylindrical shell rings are joinedto one another at the half way points of their cylindrical lengths by aconcentric plate ring, 52′″, positioned intermediately between themhaving joining bars extending therefrom. Extending from plate ring 52′″are a pair of inner bars, 52 ^(iv), each joined to inner ringcylindrical shell 52″ each on a side opposite to that of the other andalong a common diameter of that shell. A pair of outer bars, 52 ^(v)(only one of which is visible in FIG. 18), extending from plate ring52′″ are joined to outer ring cylindrical shell 52′ each on a sideopposite to that of the other and along a common diameter that isperpendicular to the common diameter of inner bars 52 ^(iv). Gimbal 52is formed of a resilient material so that inner bars 52 ^(iv) can betwisted to allow inner ring cylindrical shell 52″ to be rotated aboutthe common diameter of those bars with respect to outer ring cylindricalshell 52′, and so that outer bars 52 ^(v) can be twisted to allow innerring cylindrical shell 52″ to be rotated about the common diameter ofthose bars, or to be rotated to an extent about both of these commondiameters with respect to outer ring cylindrical shell 52′.

Extension plate 50 is seen in FIG. 17 to comprise a gimbal accommodationplate, 55, and a pair of capture plates, 56 and 57, positioned on eitherside of plate 55. Accommodation plate 55 and capture plates 56 and 57each have a trinal parts opening through the thickness thereof with eachtrinal parts opening comprising three plate slot openings that extendfrom a plate central opening radially out toward the plate periphery atequal angles from one another, the end of each slot opening near theplate periphery having a semicircular edge. The larger separationdifference between the parallel sides of the slot openings inaccommodation plate 55 and the smaller separation difference between theparallel sides of the corresponding slot openings in each of captureplates 56 and 57 thereby form capture channels one along each side ofeach capture slot in extension plate 50. That is, these capture channelsare located between those portions of these capture plates extendingover the slot opening in accommodation plate 55 that results from thecenters of the plate slots in all three plates along the slot lengthsthereof being in a common plane, perpendicular to the plate surfacesabout each plate slot, to thus form the capture slots. The joiningtogether of plate 50 and capture plates 56 and 57 in this configuration,with these latter two plates being on either side of plate 55, togetherform composite extension plate 50. Prior to joining these plates so, aone of gimbals 52, 53 and 54 is positioned in what will be the capturechannels on each side of a corresponding capture slot.

As seen in FIG. 16, support yoke 51 is mounted on the outer outputoperating surface of extension plate 50. Yoke 51 has three curved endbars equally spaced from one another at their straight ends near theperiphery of extension plate 50. These yoke bars extend outwardly fromthis extension outer surface to being curved toward one another so as toall meet spaced from, and over, the center of this outer surface wherethey are joined together by outward extending support column which theysupport there.

Selectively rotating the output shafts of motors 30, 31 and 32 causesrotations of output shafts 22, 23 and 24 as described above. Theseoutput shafts rotating forces the corresponding one of gimbals 52, 53and 54 to move away from output plate 21 for one direction of shaftrotation or, alternatively, toward output plate 21 for the otherdirection of rotation, the inner ring cylindrical shells of thesegimbals rotating (twisting) about the inner and outer bars thereof toallow the outer surface of extension plate 50 to correspondinglyreorient. The use of just one group of three gimbals allows a maximumangular deviation of plate 50 that is only approximately half that ofoutput plate 21 with its use of connected pairs of universal joints toform a group of three input universal joints and a group of three outputuniversal joints.

The magnitude of force that can be applied to output plate 21, or itstorque about a selected axis, can be increased by providing a fourthforcing shaft threadedly engaged therewith that is selectively rotatableby a fourth motor with a fourth drive train connected thereto similar tothe previously described ones but which are not seen in the perspectiveview of FIG. 19 showing such an arrangement in a further roboticmanipulator, 10′″. Parts in robotic manipulator 10′″ similar to those inrobotic manipulator 10 have the same designators in each of theirrespective drawings. A differing portion of robotic manipulator 10′″ isshown in this figure, and the motors and drive trains for thismanipulator, identical or similar to those for robotic manipulator 10,have been omitted in it. The remaining part of that robotic manipulatoris shown in that figure beginning with a fourth input shaft, 60,threadedly engaged with a four threaded hole base plate, 12 b, andconnected to the fourth drive train. A fourth radially extending slot,17 b ^(v), extends through a coupling plate 17 b as do each of threeother slots, 17 b′, 17 b″ and 17 b′″, (in and about which are providedcoupled universal joint pair assemblies 18, 19 and 20, respectively).These four slots are each through plate 17 b so as to be positioned 90°from the two neighboring slots on either side thereof. A fourth coupleduniversal joint pair assembly, 61, is slidably positioned in and aboutslot 17 b ^(v) with this slot having a threaded coupling shaft, 61′, ofthis assembly extending therethrough. Shaft 61′ is connected on one endthereof to an input universal joint, 61″, on the base plate 12 b side ofplate 17 b and which joint in turn is connected to fourth input shaft60. Shaft 61′ is also connected on the other end thereof to an outputuniversal joint, 61′″, which is on the other side of plate 17 b on whichside there is provided a four threaded hole output plate 21 b. There,output universal joint 61′″ is connected to a fourth output shaft, 62,threadedly engaged with plate 21 b.

Fourth input shaft 60, fourth coupled universal joint pair assembly 61,and fourth output shaft 62 are all similar to their counterpartsdescribed above, and the connections between them are similar to theconnections between those counterparts again as described above.Coupling plate 17 b differs from coupling plate 17 in having anadditional slot 17 b ^(v), but also in having all of the slots thereinwider than the slots in plate 17 to thereby allow for lateral slidingmovement of the coupled universal joint pair assemblies therein inaddition to radial sliding movements of them.

In many uses of robotic manipulators, some sort of output tool or otherkind of operating device will need to be mounted on the roboticmanipulator output plate outer surface to provide there some desiredoperating capabilities, controlled from a location behind the baseplate, once the robotic manipulator has, from such a control location,positioned the output plate at an operating location pertinent to thedesired operations. Among the possibilities for doing so is to add arotatable operations shaft at the outer surface of the output plate toprovide selected rotary mechanical motion there which can used asdesired through being selectively rotated from a control locationsomewhere behind the base plate.

One arrangement for doing so for robotic manipulator 10 of FIG. 1 isshown in the perspective view of FIG. 20 of a further roboticmanipulator, 10 ^(iv). Parts in robotic manipulator 10 ^(iv) similar tothose in robotic manipulator 10 have the same designators in each oftheir respective drawings. Differing portions of robotic manipulator 10^(iv) are shown in this figure, and the motors and drive trains for thismanipulator, identical or similar to those for robotic manipulator 10,have been omitted in them. Robotic manipulator 10 ^(iv) has providedtherein three modified plates, base plate 12 c with circular openings 12c′, 12 c″ (not seen) and 12 c′″ (filled by a bushing and shaft)therethrough, coupling plate 17 c with circular arc slots 17 c′, 17 c″(not seen) and 17 c′″ therethrough each between otherwise adjacent pairsof slots 17′, 17″ and 17′″, and output plate 21 c with circular openings21 c′, 21 c″ and 21 c′″ (filled by a bushing and shaft) therethrough.

Each circular arc opening in coupling plate 17 c has two opposite sideseach following a circular arc with different radii with each pair ofadjacent arc ends joined together by fillets therefrom to a sidesubstantially following an extended radius of plate center opening 17^(iv) to thereby form the two remaining sides. There is, at each end ofeach circular arc opening, a bordering recess from the correspondingsurface of plate 17 c that follows each opening side to form a continualrecess strip along those sides. If each of the input shafts 14, 15 and16 were along a straight line axis with their corresponding one ofoutput shafts 22, 23 and 24 so that plates 12 c, 17 c and 21 c were allparallel to one another, much like the position arrangement shown inFIG. 3, an axis joining the centers of a circular opening in base plate12 c and a corresponding circular opening in output plate 21 c wouldalso pass through a center of a corresponding circular arc opening incoupling plate 17 c.

As indicated, what would be a circular opening 12 c′″ has a splinedinput shaft, 65, extending through a splined collared bushing, 66,rotatably mounted in that opening. Bushing 66 has a larger diametercollar positioned against the motors side of plate 12 c, and a smallerdiameter collar facing coupling plate 17 c that fits through circularopening 12 c′″ but is prevented from going into that opening by a snapring between this smaller collar and the coupling plate side of plate 12c. Splined input shaft 65 extends from bushing 66 to a further coupleduniversal joint pair assembly, 67, that is slidably positioned in andabout circular arc slot 17 c′″ with this slot having a threaded couplingshaft, 67′, of this assembly extending therethrough. Shaft 67′ isconnected on one end thereof to an input universal joint, 67″, (notseen) on the base plate 12 c side of plate 17 c where its collar canslide in the border recess about circular arc slot 17 c′″. The otherside of input universal joint 67″ is in turn connected to fourth inputshaft 65. Shaft 67′ is also connected on the other end thereof to anoutput universal joint, 67′″, which is on the other side of plate 17 cfacing output plate 21 c where its collar can slide in the border recesson that side about circular arc slot 17 c′″. Output universal joint 67′″is connected on this other side to output plate 21 c by an output shaft,68, extending from this joint to a further splined collared bushing, 69,like bushing 66, that is rotatably mounted in what would otherwise becircular opening 21 c″ in output plate 21 c with its snap ring sidefacing coupling plate 17 c.

The addition of another motor and drive train to input shaft 65 behindbase plate 12 c, which can be similar to those provided for the inputshafts, and selectively rotating its output shaft, allows selectiverotation of output shaft 68 at the outer surface of plate 21 c. Theexposed portion there of output shaft 68 can serve as a power takeoffsource or controlled rotary motion source for operating further devicesprovided at that surface. An example of doing so is shown in theperspective view of FIG. 21 and the cross section view of FIG. 22 for amodified robotic manipulator, 10 a ^(iv), in having a clamping orgripping or cutting capability operating device being added at thisouter surface to be controlled there in part by supplying controlledrotary motion from output shaft 68. Parts in robotic manipulator 10 a^(iv) similar to those in robotic manipulator 10 have the samedesignators in each of their respective drawings. Differing portions ofrobotic manipulator 10 a ^(iv) are shown in these two figures, and themotors and drive trains for this manipulator, identical or similar tothose for robotic manipulator 10, have been omitted in them.

A support stand, 70, in the form of a vertical stand plate having at oneend two support stems each extending from the stand plate body to be onone of the opposite sides of an accommodation recess opening, 71,extending from the plate end inward. Stand 70 is mounted on the outersurface of plate 21 c by affixing each of those two support stems tothat surface so as to position the stand plate of stand 70 over thecenter of, and on opposite sides of, interior opening 25 providedthrough output plate 21. The other end of support stand 70 is formed asa shackle having a pair of arms spaced apart by an operation recessspace with these arms extending from the plate body to be on one of theopposite sides of the operation recess space opening which openingextends inward from this other plate end. Each arm has a pivot openingnear its end farthest from the stand plate body and through each ofwhich a pivot pin extends which also extends through the closer rotationpivot openings in an outer closer, 72, and an inner closer, 73,positioned between these arms.

Outer closer 72 is substantially L-shaped having an oblong base plate,72′, extending from two joining portions of the closer that togetherextend along a common axis at which portions this base plate is joinedto an oblong closing plate, 72″, extending at an angle from thesejoining portions. The closer rotation pivot openings in outer closer 72each extend through one of these joining portions along their commonaxis which axis is perpendicular to the lengths of base plate 72′ andclosing plate 72″. An operation pivot opening is provided through baseplate 72′ at the end thereof farthest from the joining portions andextending parallel to the closer rotation pivot openings. In addition, acoupling slot is provided in outer closer 72 extending between andthrough the joint portions thereof across the common axis and thenextending from there a distance into base plate 72′ along its length anda distance into closing plate 72″ along its length. Also, there is acup-like recess in closing plate 72″ just past the end of the couplingslot portion therein extending inward from the plate surface thereofmaking the smallest angle with base plate 72′.

Inner closer 73 is also substantially L-shaped having an oblong baseplate, 73′, extending from a joining portion of this closer at whichportion this base plate is joined to an oblong closing plate, 73″,extending at an angle from this joining portion. The joining portion ofthis closer has a closer rotation pivot opening therethrough extendingperpendicular to the lengths of base plate 73′ and closing plate 73″,and is narrow enough to allow it to be positioned in the coupling slotof outer closer 72 so that its closer rotation pivot opening is alsoalong the common axis of the two joining portions of this outer closer.Closing plate 73″ can be wider than the coupling slot of outer closer 72for better gripping capabilities or could have a very narrow edge facingouter closer base plate 72′ for better cutting capabilities (as can beclosing plate 72″). An operation pivot opening is provided throughcloser base plate 73′ at the end thereof farthest from the joiningportion, and extending parallel to the closer rotation pivot opening.Here too, a cup-like recess in closing plate 73″ is provided just pastthe end of the joining portion thereof extending inward from the platesurface thereof making the smallest angle with base plate 73′.

The pivot pin in the pivot openings of the arms of support stand 70extends through the closer rotation pivot openings in the joiningportions of outer closer 72 and inner closer 73 so that these joiningportion are positioned in the operation recess space of that stand, andso these closers can then be rotated in that space for selectedoperations of the device. There are two operation control andimplementation arrangements for the operating device provided at theouter surface of plate 21 c in FIGS. 21 and 22. The first of these is adevice orientation control based on selective operations of the exposedportion there of splined output shaft 68 fitted into the interiorlysplined end of a rotatry-to-linear motion converter, 74. Converter 74 isprovided as a cylindrical shell having a threaded interior at one end ofthe opening through the length thereof that is threadedly engaged inthese converter interior threads with a threaded end of an actuationshaft, 75, and a splined interior at the other end of that openingengaged with shaft 68. Rotation of shaft 68 in one direction or theother rotated the cylindrical shell of converter 74 to thereby causeactuation shaft 75 to extend or retract with respect to the threaded endof that shell.

The end of actuation shaft 75 opposite the threaded end of that shafthas an operation pivot opening therethrough with a pivot pin extendingthrough it and through operation pivot openings in the arms on eitherside of that shaft positioned in the recess space between these arms,these arms belonging to the first shackle at a first end of a doubleshackle link, 76. A second shackle at the opposite end of link 76 hasthe end of closer base plate 73′ farthest from its joining portionpositioned in the recess space between its arms, these arms also havingoperation pivot openings in each of them with a pivot pin extendingthrough them and through the operation pivot opening provided throughcloser base plate 73′ at that end thereof. Thus, selective rotations ofsplined shaft 68 by the corresponding connected motor to thereby forcethe shackled end of actuation shaft 75 toward and away from theconverter cylindrical shell allows selecting over an angular range theangle of closing plate 73″ of interior closer 73 with respect to theouter surface of output plate 21 c by rotating that closer in eitherdirection about the rotation pivot pin through it and stand 70.

Outer closer 72 can also be rotated in either direction about therotation pivot pin through it and stand 70 (and also through interiorcloser 73) by a shackle end pull cable, 77. Cable 77 extends from somecontrol position behind base plate 12 c through interior opening 13,through interior opening 17 ¹ v of coupling plate 17 c, and throughinterior opening 25 of output plate 21 c and accommodation recessopening 71 to be affixed in the joining region between two arms of acable shackle. These two arms on either side of a recess space each havean operation pivot opening extending through them and through operationpivot opening provided in the end of base plate 72′ positioned in thatrecess space. Thus, selective pullings on shackle end pull cable 77 fromthe control position behind base plate 12 c selectively forces closingplate 72″ against closing plate 73″ at whatever angular position hasbeen selected for closing plate 73″ by the selective rotations of shaft68. In the arrangement show in FIGS. 21 and 22, terminating a pulling oncable 77 will result in separating closing plate 72″ and closing plate73″ because of a compression spring, 78, being provided between themwith its ends positioned in the corresponding one of the cup-likerecesses in each of these plates. One alternative could be to eliminatethis spring and use, in place of the cable part of shackle end pullcable 77, a sufficiently stiff wire to force both the opening and theclosing of closing plate 72″ and closing plate 73″.

Modified robotic manipulator 10 a ^(iv) of FIGS. 21 and 22 has a furtherdifference from robotic manipulator 10 ^(iv) of FIG. 20 in that thecommon joint type universal joint pairs 18″ and 18′″, 19″ and 19′″, and20″ and 20′″ have had substituted for them common joint type universaljoint pairs 18 a″ and 18 a′″, 19 a″ and 19 a′″, and 20 a″ and 20 a′″ inwhich each of these latter universal joints is of a different type, andso of different structure, than the previous corresponding universaljoint it substitutes for but which behave similarly in response toapplied forces. Other kinds of universal joints with similarcapabilities could also be substituted, for example, the commonuniversal joints having the two shackles provided with rotational pivotopenings in each of the arms with the arms coupled together by a crossstructure, or spider, with the arm ends each in a corresponding one ofthe arm rotational pivot openings.

One of the substituted universal joints shown in FIGS. 21 and 22, joint18 a′″, is shown in more detail in perspective view of FIG. 23 and theexploded perspective view of FIG. 24. Output shaft 22 is affixed to thecenter of a circular arc yoke, 18 a ^(iv), having two arms extending inopposite directions along a circular arc path so that they togetherfollow a circular arc path greater than a semicircle. These arms areformed of a resilient material sufficiently resilient for their sizes toallow the ends of them to be forced a slight distance apart and thenresult in them returning to their circular arc positions upon removal ofsuch a separating force. These arms are engaged in one of two channelsrecessed into the surface of a channeled sphere, 18 a ^(v), each wideenough to accept such arms therein so that the yoke can rotate about thecenter of the sphere in its channel, and each channel extending entirelyaround sphere 18 a ^(v) following a circular path in a correspondingplane through the sphere with the planes for each channel separated byright angles. The arms of circular arc yoke 18 a ^(iv) are initiallyseparated by being forced into the corresponding sphere channel butreturn to their circular arc position once the arms ends are past thecorresponding equator of the sphere so as to capture the channeledsphere between them.

The remaining channel of channeled sphere 18 a ^(v) has in it thesimilar arms of the yoke provided in a transition yoke structure, 18 a^(vi), formed of interiorly threaded cylindrical shell affixed to thecenter of this yoke. This second yoke again has two arms of a resilientmaterial extending in opposite directions along a circular arc path sothat they together follow a circular arc path greater than a semicircleto also capture sphere 18 a ^(v), and is positioned more or less acrossfrom the previous yoke so that it can also rotate about the center ofthe sphere in its channel. The presence of each yoke in its channelprevents the other yoke from completely rotating about the center of thesphere to follow a full circle path.

Threaded coupling shaft 18′ is provided for joint 18 a′″ to connect itto corresponding input universal joint 18 a″ as it was previouslyprovided for joint 18′″ to connect it to the input universal joint 18″in their corresponding coupled universal joint pair assemblies. Shaft18′ threadedly engages the interior threads in the cylindrical shell intransition yoke structure 18 a ^(vi).

Even simpler, and often cheaper, universal joint substitutions in theserobotic manipulators can be used in some circumstances, perhaps some ofthose in which positioning of the robotic manipulator output plate couldbe tolerated to be less precise or less repeatable. In any event, afurther substitution example is shown in elevation view of FIG. 25 ofanother robotic manipulator, 10 ^(v), in which a helical spring affixedbetween a pair of connection plates forms another set of input universaljoints 18 b″, 19 b″ and 20 b″, each to correspondingly be substitutedfor each of input universal joints 18″, 19″ and 20″ in roboticmanipulator 10 which manipulators are otherwise similar. Similarly, ahelical spring affixed between a pair of connection plates forms anotherset of output universal joints, 18 b″, 19 b′″ and 20 b′″, each tocorrespondingly be substituted for each of output universal joints 18′″,19′″ and 20′″ in robotic manipulator 10 to, together, provide in roboticmanipulator 10 ^(v) counterparts to the coupled universal joint pairassemblies of robotic manipulator 10. The input and output universaljoint springs have their facing connection plates connected by athreaded shaft extending through the slots in coupling plate 17, theopposite connection plates of the input universal joint springs are eachconnected to a corresponding one of the input shafts, and the oppositeconnection plates of the output universal joints are each connected to acorresponding one of the output shafts. These helical springs can beformed from either some suitable metal or some suitable of plastic.

A significantly simpler configuration is shown as another roboticmanipulator, 10′, in the mixed elevation and cross section view of FIG.26 in which coupling plate 17 and the coupled universal joint pairassemblies of robotic manipulator 10 have been eliminated by use of aset of sheath-bound double sphere joints in their place to form afurther set of coupled universal joint assemblies, 18 c, 19 c and 20 c.Input shaft 14 extending from base plate 12 has a neck extending fromthe end thereof supporting a sphere, 14′, that is held against a sphere,22′, supported on a neck extending from output shaft 22, extending inturn from output plate 21, by an elastomeric tube in assembly 18 ctightly encasing both spheres. The smaller tube interior diameter ateach of its ends past the corresponding sphere tightly encases the neckthere supporting that sphere so that the two spheres remain encasedwithin the interior of the tube despite turning against each otherduring angular changes forced between input shaft 14 and output shaft 22by selected rotations of the manipulator input shafts 14, 15 and 16 (notshown) caused by selected rotations of the motors connected thereto asdescribed above. Input shaft 15, coupled universal joint assembly 19 cand output shaft 23 are of a similar construction and are also capableof providing or accepting similar angular changes between those twoshafts. So are input shaft 16, coupled universal joint assembly 20 c andoutput shaft 24 though not seen in the figure because of beingobstructed in that view by input shaft 15, coupled universal jointassembly 19 c and output shaft 23.

Another saving in the cost of constructing robotic manipulator 10, andin the volume of space occupied by it, but at the cost of having lessforce available to manipulate the output plate, is achievable byeliminating one motor and the associated drive train, input shaft, andoutput shaft combination. Such a robotic manipulator, 10 ^(vii), isshown in the two elevation views of FIGS. 27 and 28. In addition, thoughnot required for a two motor robotic manipulator, a rotatable operationsshaft at the outer surface of the output plate to provide selectedrotary mechanical motion there has been provided using the interioropenings of the base and output plates and of hinged couplingarrangement between them as is to be described. Parts in roboticmanipulator 10 a ^(iv) similar to those in robotic manipulator 10 havethe same designators in each of their respective drawings. Differingportions of robotic manipulator 10 a ^(vii) are shown in these twofigures as well as different views.

Robotic manipulator 10 a ^(vii) is shown in elevation in FIGS. 27 and 28but with output plate 21 d in alternative orientations in them, and,although protective cylindrical shell sleeve 11′″ has been included inthe manipulator in FIG. 27, this sleeve has been omitted from themanipulator in FIG. 28 to reveal more of the structure shielded thereby.Input shaft 16 and motor 32, along with the drive train connecting them,coupled universal joint pair assembly 20, and output shaft 24 have allbeen omitted in this manipulator. Input shafts 14 and 15 andcorresponding motors 30 and 31, along with the corresponding drivetrains connecting them, the corresponding coupled universal joint pairassemblies 18 a and 19 a, and the corresponding output shafts 22 and 23have been repositioned to be 90° apart from one another at, or projectedon, the outer surface of modified base plate 12 d with respect tointerior opening 13 therein, and similarly positioned at, or projectedon, the outer surface of modified output plate 21 d with respect tointerior opening 25 therein for the orientation of the manipulator shownin FIG. 28.

Coupled universal joint pair assemblies 18 a and 19 a, however, arepositioned in a link structure, 17 d, in and through slots 17 d′ and 17d″ each provided as an oblong opening along a pair of loop links, 17 d 1and 17 d 2, respectively, provided in that structure extending throughthose loop links near the outer ends thereof. These assemblies aremaintained in these slots by collars thereabout that are slidable overthe surfaces of these slots adjacent thereto. These loop links arerotatably connected to one another in that structure about an endopening through each of their inner ends so as to have these endopenings coaxially positioned with respect to one another to togetherform a link structure interior opening, 17 d ^(iv), extending parallelto the slot openings as seen in the cross section view of FIG. 29. Looplinks 17 d 1 and 17 d 2, being capable of rotating with respect to oneanother, and each having one of coupled universal joint pair assemblies18 and 19 in a corresponding one of slots 17 d′ and 17 d″ in them,allows these assemblies to move radially, and to a greater extentlaterally because of loop link rotation capability in response to theforces on the assemblies resulting from selective rotations of the inputshafts due to selective rotations of motors 30 and 31 connected thereto.

As best seen in the cross section view of FIG. 30, a rotatableoperations shaft is added at the outer surface of output plate 21 d toprovide selected rotary mechanical motion there which can used asdesired through being selectively rotated from a motor, 80, mounted inan interior opening 41 d′ in modified bushing plate 41 d which ismodified to accommodate the drive trains connecting motors 30 and 31 todrive shafts 14 and 15, respectively. Motor 80 is connected by a beamcoupler, 81, like beam couplers 34 and 35, to an input shaft, 82,supported in a bearing seated in interior opening 13 in modified baseplate 12 d. Input shaft 82 is connected to a coupled universal jointpair assembly, 83, like assemblies 18 a and 19 a, positioned in linkstructure interior opening 17 d ^(iv). Thus, coupled universal jointpair assembly 83 has a threaded shaft, 83′, extending through linkstructure interior opening 17 d ^(iv) connecting an input universaljoint, 83″, to an output universal joint, 83′″. Output universal joint83′″ is connected to an output shaft, 84, supported in a bearing seatedin interior opening 25 in modified output plate 21 d. Selectiverotations of the shaft of motor 80 allow selective rotations of outputshaft 84 at the outer surface of plate 21 d. The exposed portion thereof output shaft 84 can serve as a power takeoff source or controlledrotary motion source for operating further devices provided at thatsurface.

The robotic manipulators described herein can be supplemented by theaddition of further position apparatus, an example of which is shown asa further robotic manipulator, 10 ^(viii), in the perspective view ofFIG. 31, the plan view of FIG. 32 and the cross section view of FIG. 33together in which robotic manipulator 10 has been used although othermanipulators described herein could have instead been used. A three partencasement structure, 90, contains the portions of robotic manipulator10 from motor mounting plate 11′ through base plate 12 in a basehousing, 90′, a tubular sleeve arrangement, 90″ and a guide mountingstructure, 90′″.

Protective cylindrical shell sleeve 11′″ in a both truncated andextended version, 11 ^(iv), is affixed at its larger diameter end tomotor mounting plate 11′ and extended for a distance before narrowingits diameter to be affixed to a modified bushing plate, 41 a, forming aflexible shaft guiding structure. Motors 30, 31 and 32 have their outputshafts connected directly to the second cup and shaft drivers withoutuse of the first cup and shaft drives as described previously. Sleeveversion 11 ^(iv) then further extends through a bushing, 90 a′, seatedin base housing 90′ and through a clearance opening, 90 a″, in guidemounting structure, 90″, to end by being affixed to base plate 12 tocomplete tubular sleeve arrangement 90″. Tubular sleeve arrangement 90″,including motor mounting plate 11′ with motors 30, 31 and 32 mountedtherein, protective cylindrical shell sleeve truncated and extendedversion 11 ^(iv) and base plate 12, can be rotated together because ofbeing mounted with base housing 90′ within a bearing, 90 b′, seated inthat housing. Such rotation can be selectively made by selectivelyrotating the output shaft of a further motor, 91, mounted on basehousing 90′ at its outer surface and connected to tubular sleevearrangement 90″ by a drive belt, 92, partially around a corrugated motorshaft ring and partially around a corrugated drive ring, 93, affixedaround the outside of sleeve 11 ^(iv) directly across from motormounting plate 11′.

In addition to the capability of rotating tubular sleeve arrangement 90″with motors 30, 31 and 32 with respect to base housing 90′, and so withrespect to guide mounting structure 90′″, using motor 91, selectiveseparating and retracting movements between guide mounting structure90′″ and the remaining parts of encasement structure 90, that is, basehousing 90′ together with tubular sleeve arrangement 90″, by selectivelyrotating a further motor, 94. Motor 94 is mounted in a recess at theouter surface of base housing 90′ at 90° from the mounting location ofmotor 91 with respect to tubular sleeve arrangement 90″. Motor 94 has athreaded shaft, 95, affixed to its output shaft which extends from thereinto a threaded opening in guide mounting structure 90′″. Motor 94together with threaded shaft 95 forms a linear actuator that can changethe separation between base housing 90′ and guide mounting structure90′″ in selectively moving base housing 90′ back and forth along tubularsleeve arrangement 90″ and along a pair of guide rods, 96, throughbushings in base housing 90′. The larger movement provided by motor 94positions tubular sleeve arrangement 90″ with output plate 21 atlocations where the smaller and more precise movements of just outputplate 21 provided by motors 30, 31 and 32 are to be performed.

Robotic manipulators are shown being used together in two pairs thereofin the perspective view of FIG. 34 with, for each pair, has a roboticmanipulator 10 (also provided with the rotation capability of a roboticmanipulator 10 ^(viii) using similar components) mounted on a stand, 97,supporting on its output plate guide mounting structure 90′″ of arobotic manipulator 10 ^(viii). The larger output plate manipulator onstand 97 positions the second, smaller output plate manipulator whereits smaller and more precise activities are to occur. Such anarrangement can be used, for example, in neurosurgery as indicted in thepictorial view of FIG. 35 shown in the environment of a magneticresonance imaging (MIR) machine (requires the robotic manipulator to beconstructed of nonmagnetic materials). Such a robotic manipulatorarrangements are controlled by computer based control systems which canprovide for a remote controller as indicated in FIG. 34.

1. A manipulator comprising: a mount member; a base member connected tothe mount member, the base member including two first threaded openingsand a base aperture; a first link including a first link aperture and afirst slot; a second link including a second link aperture and a secondslot; an output member including two second threaded openings and anoutput aperture; a first motor mounted to the mount member; a secondmotor mounted to the mount member; a third motor mounted to the mountmember; a first drive train connected to the first motor, the firstdrive train comprising: a first input shaft connected to the firstmotor, the first input shaft having a first threaded portion thatextends through one of the two first threaded openings in the basemember; a first universal joint connected to the first input shaft thatextends through the first slot in the first link; and a first outputshaft connected to the first universal joint, the first output shafthaving a second threaded portion that extends through one of the twosecond threaded openings in the output member; a second drive trainconnected to the second motor the second drive train comprising: asecond input shaft connected to the second motor, the second input shafthaving a third threaded portion that extends through another one of thetwo first threaded openings in the base member; a second universal jointconnected to the second input shaft that extends through the second slotin the second link; and a second output shaft connected to the seconduniversal joint, the second output shaft having a fourth threadedportion that extends through another one of the two second threadedopenings in the output member; and a third drive train connected to thethird motor, the third drive train comprising: a third input shaftconnected to the third motor, the third input shaft extending throughthe base aperture; a third universal joint connected to the third inputshaft that extends through the first link aperture and the second linkaperture; and a third output shaft connected to the third universaljoint, the third output shaft extending through the output aperture. 2.The manipulator of claim 1, wherein the two first threaded openings inthe base member are arranged to be 90 degrees apart from one another. 3.The manipulator of claim 1, wherein the mount member comprises: a mountplate; a post connected to the mount plate at a first end; and a bushingplate connected to a second end of the post.
 4. The manipulator of claim3, wherein the first and second motors are mounted to the mount plateand the third motor is mounted to the bushing plate.
 5. The manipulatorof claim 1, wherein the first input shaft of the first drive train andthe second input shaft of the second drive train each includes a splinedportion.